JPS619707A - Controller of industrial machine - Google Patents

Abstract

PURPOSE:To facilitate a operation of an industrial machine which performs jobs automatically according to the stored job contents, by using a direction detector that always points a fixed direction and calculating the direction of the main body of the industrial machine and the angle of a shift direction indicator. CONSTITUTION:A shift direction indicator (joy stick) 40 of a teaching means 6 is turned in an optional direction to indicate the shift direction of a hand 5 of a robot main body 1. At first, the hand 5 and the means 6 are indicated in the direction XR from the main body 1 together with a gyro 42 turned in the direction XJ and a reference shaft 44 of the means 6 turned in the direction XT respectively. Then the direction XR is set in parallel to the direction XT for the means 6. Under such conditions, a correction button 41 is pushed to store the output of 1st measurement circuit 45 in a correction circuit 43. The storage contents of the circuit 43 are equal to an angle thetaR. Then the means 6 is separated from the main body 1 and the worker moves. Thus the circuit 45 measures an angle thetaT from the shaft 44 and the gyro 42 after a shift. When the stick 40 is turned in the direction XS, the 2nd measurement circuit 46 measures an angle thetaTS. Then an arithmetic circuit 47 calculates an angle thetaRS, and the hand 5 is moved.

Description

DETAILED DESCRIPTION OF THE INVENTION TECHNICAL FIELD OF THE INVENTION The present invention relates to a control device for industrial machinery that stores taught work contents and automatically performs work according to the stored work contents.

[Prior art]

Industrial robots (hereinafter referred to as industrial robots) are an industrial machine that automatically performs work based on memorized work details.

It's called a robot. ). The robot is taught the work content in advance before it starts operating.

1 and 3 show conventional control devices for industrial machines.

First, in Figure 1, (1) is the main body of the robot.

(21 is the vertical axis that moves up and down by this main body 1), (
3) is a first arm that rotates in the horizontal direction by a first joint (3a). (4) is the second arm,
It rotates in the horizontal direction by a joint (4a).

(5) is a movable part that rotates by the third joint (5a),
Here, it functions as a hand that grips a workpiece (not shown). , +61 is a teaching means that can be attached to and detached from the main body (1), and when it is attached, it becomes a teaching mode that teaches the work content, and when the salt 9 is removed, it becomes an automatic mode that automatically runs according to the work content. It is something.

Figure 2 shows the details of the teaching means (6), and (8) displays the point number (8a) assigned to the target position for making the hand (5) work in Figure 1. The display section (9) is an orthogonal axis that is operated when the hand (5) is moved according to the orthogonal coordinate system by comprehensively operating the vertical axis (2), the first arm (3), and the second arm (4). Button, (
9a) is a light emitting diode that lights up in a Cartesian coordinate system;
(11 is the vertical axis (2), the first joint (3a), the second joint (
4a) and the joint button operated when the third joint (5a) is operated separately, (10a) is the issuing diode, αυ is the first arm (3) and the second arm (4)
High speed o, (H
a) is the light emitting diode, (12 is the low-speed hole that is also operated when operating at low speed, (12a) is the light-emitting diode, (13a) and (13b) are the respective hands when the orthogonal button (9) is operated. (5) is 1+ on the X axis
Move in the ``+'' direction and 1-'' direction.The +X button and -X button rotate the first joint (6a) in the ``+'' direction and the ``-'' direction, respectively. It is something. , (14a) and (14b) are orthogonal buttons (9)
is being operated, move the hand (5) to the Y-axis "
When joint button +11 is operated with the +Y button and -Y button that move in the "+" direction and "-" direction, the second joint (4
a) is rotated in the "+" direction and the "-" direction. (15a) and (15b) are the up and down buttons that raise and lower the vertical axis (21), regardless of whether the orthogonal button (9) or the joint button aci is operated.
(16a) and (16b) are orthogonal button (9) and joint button α
Regardless of O, move the third joint (5a) in the "+" direction and "-"
This is the third joint that moves in the direction of ``. (17a) and (17b) are point number buttons that increase and decrease the point number (8a), respectively. (2) is an emergency stop button for making an emergency stop of the robot, and (c) is a storage section for storing the current position of the hand (5).

Next, we will discuss the operation. In Figure 1, from position A of hand (5) indicated by a solid line to hand (5') indicated by a two-dot chain line.
Assume that it is moved to position B. If the coordinates of position A are (X, y, z), position B is (X+Xo,
y+y, ), Z+ZO).

First, operate the rise button (15a) to raise the hand (5) by Vczo in the two-axis direction, then -X button (13b)
to move the hand (5) by Xo in the X-axis direction. Furthermore, operate the +Y button (14a) to move y in the Y-axis direction.

Move hand (5) to position B of hand (5')
Move to. After that, when the memory section @ is operated, the point number (
8a) associated with position B (x+ X[l I
Y+YO.

Z+ZO) is stored.

If you wish to memorize another position, first operate the point number buttons (17a) and (17b) and press the display (8).
After setting the point number, play the hand (5) as described above.
All you have to do is move the and operate the storage section (c).

By the way, the orthogonal coordinates are determined for 0 body + 11 as shown in FIG. 3(a). Therefore, as shown in Figure 3(a), if the person (7) is behind the main body fi+, the direction is 1+'' on the X axis, the right hand direction of the two people, the 10'' direction on the y axis: On the other hand, as shown in Fig. 4 (b), when nine people (to) move to the side of the main body (1), the direction of 1+'' on the X axis is the forward direction of the two people, the ``+'' direction of the Y axis: It will be towards the left. For this reason, one person (to) must always look at the main body il+ and associate the coordinates before operating the teaching means (6), making the teaching work troublesome. Also, since the 9th person (to) easily intuitively thinks that he or she is the origin of the coordinates, there was also the problem that the hand (51) was moved in the wrong direction.

[Summary of the invention]

This invention was made in view of the above problems.

In a control device for an industrial machine in which a movable part that is pivoted on a main body is moved in an arbitrary direction by a movement direction indicating device, a direction detection device that always points in a constant direction is provided, and The angle formed by the current position direction of the movable example and the indicated direction of the moving direction indicating device is calculated, and the movable part is moved according to this angle, so that even if the relative position between the main body and the moving direction indicating device changes, it will move in the indicated direction. The purpose is to allow the movable parts to be moved easily.

[Embodiments of the invention]

4 to 7 show an embodiment of the present invention.

First, in FIG. 4, IQ is a moving direction indicating device that indicates the moving direction of the hand (5) by tilting it in an arbitrary direction, and in this embodiment, a joystick is used. (411 is a calibration button for storing the axial direction of the gyro (described later) and using it as a calibration value. In this embodiment, the reference axial direction of the teaching means (6) is parallel to the direction "R" of the main body (1). In FIGS. 5 to 7, the teaching means (6) K is provided, and is a direction detection device that outputs a direction signal XJ always pointing in a certain direction. In the example, a gyro is used. O3 is a calibration circuit, and the calibration gn is performed when the direction large R of 9 body + 1) and the reference axis direction large of the teaching means (6) are parallel.
When i+ is pressed, the angle θ between the reference axis signal disconnection and the direction signal of the gyro 02 at this time is memorized. ■
(c) is a reference axis that outputs the reference axis signal disconnection determined by the teaching device (6); (c) is a first measurement circuit that measures the angle θ between the direction signal of the gyro (c) and the reference axis signal disconnection; The second measurement circuit measures the angle θT8 between the joystick 3Q's indicated direction signal and the reference axis signal XT. This is a calculation circuit that calculates the angle θR8 formed by the frame. , (C) is a push button input circuit into which a push button signal is input, (4I is a display section (8) and a light emitting diamond (
9a) to (12a), a display drive circuit fA
is a signal transmission device that sends and receives signals between the teaching means (6) and the robot body (1).

Next, we will discuss the operation.

Now, it is assumed that the instruction direction of the node (5) and the teaching means (6) are as shown in FIG.
5) is facing in the direction large R when viewed from the main body +11, and the gyro (6) is facing in the direction large J. 9. It is assumed that the reference axis (goods) of the teaching means (6) is oriented in the direction large.

First, the teaching means (6) is brought into close contact with the side of the main body (1) as shown by the symbol (6') in FIG. 6, and the general direction of the main body (1) and the reference axis direction xT of the teaching means (6) are Make parallel.
In this state, when the calibration button θ0 is pressed, the output of the first measurement circuit (c) is stored in the calibration circuit 03. What is this memory content?

The angle θRVc formed by the approximate direction of the main body (1) and the direction 5cJ of the gyro (42) is equal.

Next, a case will be described in which the teaching means 16) is used to move the robot's hand (5) in an arbitrary direction.

The operator moves the teaching means (6) away from the main body (1) and moves to a position where the hand (5) can be easily seen.
measures the angle θT in both directions from the gyro after this movement (the 4 direction signal is high and the reference axis signal is disconnected. As shown in Figure 6, if joystick 00 is tilted in the direction indicated by the symbol tag, then The second measurement circuit is the reference axis signal XT.
The angle θT8 formed in both directions is measured from the joystick (4I's indicated direction signal plate).
7), the angle θ1. θ□, θT8
The angle θR8 between the direction of the main body (11) and the joystick position is calculated and sent to the robot main body (11) via the signal transmission device.The main body (1) moves the hand (5) from the current position in the direction of the angle θR8. move it.

According to the above embodiment, by tilting the joystick in the direction in which you want the hand to move from the current position of the hand as a base point, the hand can be moved in the tilted direction. This allows you to move your hand in the desired direction without being stuck in a relative position.

Easier to operate.

〔Effect of the invention〕

As described above, this invention is applied to a control device for an industrial machine in which a movable part pivoted on a main body can be moved in any direction using a movement direction indicating device. A detection device is provided, and the angle between the direction of the main body and the direction indicated by the movement direction indicating device is calculated via the orientation detection device.

Since the movable part is moved according to this angle, even if the relative position between the main body and the movement direction indicating device changes, the movable part can be moved in the direction indicated by the movement direction indicating device, making the operation easier. has.

[Brief explanation of the drawing]

1 to 3(a) and 3) show a conventional control device for industrial machinery, and FIG. 1 is a perspective view showing the whole. Figure 2 is a front view showing details of the main parts, Figure 3 (a) and
Figure [Ex.]) is an explanatory diagram. 4 to 7 show one embodiment of this invention, with FIG. 4 being a diagram corresponding to FIG. 2, and FIG. 5 being an electrical and electrical circuit diagram of the main parts. Figures 6 and 7 are explanatory diagrams. In the figures, (1) is the main body, and (5) is the hand (movable part) 141.
) is a joystick (movement direction indicating device), 02 is a gyro (direction detection device), 03 is a calibration circuit, (c) is a first measurement circuit, (4G is a second measurement circuit, and θη is an arithmetic circuit. The same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] In a device in which a movable part pivotally supported by a main body is moved in any direction by a movement direction indicating device separated from the main body, an orientation that moves integrally with the movement direction indicating device and always points in a constant direction. a calibration circuit that calculates a first angle formed by the pointing direction of the pointing detecting device and the direction of the main body; and a second angle formed by the pointing direction of the pointing detecting device and the indicated direction of the movement direction indicating device. and a calculation circuit that calculates a third angle formed by the current position direction of the movable part and the instruction direction of the movement direction instruction device from the first angle and the second angle. A control device for industrial machinery, characterized in that the movable part is moved according to the third angle.